Fault-tolerant control method for end electromagnets of permanent-magnet-electromagnetic hybrid high-speed maglev trains

Abstract

The invention discloses a fault-tolerant control method of a permanent magnet and electromagnet hybrid high-speed maglev train end electromagnet. The fault-tolerant control method of the permanent magnet and electromagnet hybrid high-speed maglev train end electromagnet comprises the steps of S100, correspondingly establishing permanent magnet and electromagnet hybrid high-speed maglev train end electromagnet system models in a normal state and a fault state; S200, designing disturbance observers for the established system models to observe outside unknown disturbance of a system so as to obtain disturbance information; S300, correspondingly carrying out feedback linear processing on the system models in the normal state and the fault state; S400, correspondingly designing controllers forthe system models in the normal state and the fault state after the feedback linear processing is carried out; and S500, detecting the state of a levitation system of a maglev train online, using thecontroller in the normal state when the levitation system is normal, and using the disturbance observer and the controller in the fault state when the levitation system has a fault. When a single levitation point of the end electromagnet is invalid, no dependence on a system balancing point is realized to achieve a disturbance inhibiting effect so that the levitation control performance of the maglev train is improved.

Description

technical field [0001] The invention relates to the field of maglev trains, in particular to a fault-tolerant control method for an end electromagnet of a permanent magnet electromagnetic hybrid type high-speed maglev train. Background technique [0002] figure 1 It is a schematic diagram of the end electromagnet of the permanent magnet electromagnetic hybrid high-speed maglev train. figure 2 It is a schematic diagram of the structure of the electromagnet at the end of the permanent magnet electromagnetic hybrid high-speed maglev train. The high-speed maglev train adopts an overlapping structure as the basic suspension unit. It is composed of two electromagnets 1 connected to the support arms 3 in the suspension frame through disc springs 2, and the two share the load of the car body 4 through the suspension frame. like figure 1 As shown, the two electromagnets 1 in the overlapping structure are rigidly connected together, and jointly support the car body 4 through the b...

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Problems solved by technology

But this method is dependent on the equilibrium point, and the effect is poor under disturbance

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